A New Adaptive Federated Cubature Kalman Filter Based on Chi-Square Test for SINS/GNSS/SRS/CNS Integration

Table 1

Parameters in simulations.

Initial position	East longitude	108.9°
	North latitude	34.025°
	Altitude	40 km
Initial velocity	East	151 m/s
	North	125 m/s
	Up	125 m/s
Initial attitude	Pitch	0°
	Roll	0°
	Yaw	0°
Gyro parameters	Constant drift	0.5°/h
	White noise	0.5°/h
	Sampling frequency	10 Hz
Accelerometer parameters	Zero bias	0.1 mg
	White noise	0.1 mg
	Sampling frequency	10 Hz
GNSS parameters	Pseudorange measurement error	20 m
	Pseudorange rate measurement error	0.5 m/s
	Sampling frequency	10 Hz
SRS parameters	Redshift measurement error	10^-8
	Sampling frequency	1Hz
CNS parameters	Measurement error	15m
	Sampling frequency	1Hz
Barometric altimeter parameter	Altitude measurement error	10m
	Sampling frequency	1Hz